copy
Description
creates a deep copy of newSlamObj
= copy(slamObj
)slamObj
with the same properties. Any changes
made to newSlamObj
are not reflected in
slamObj
.
Examples
Remove Landmark from ekfSLAM
Object
Specify the initial vehicle state.
initialState = [1; -2; 0.1];
Specify the initial landmark positions.
landmarkPosition = [15.8495; -12.9496; 25.2455; -15.4705; 37.5880; 3.1023; 16.5690; 2.7466];
Specify the initial vehicle state covariance.
initialStateCovar = diag([0.1*ones(1,3) 1.1*ones(1,8)]);
Create an ekfSLAM
object with initial state and initial state covariance.
ekfSlamObj = ekfSLAM('State',[initialState; landmarkPosition], ... 'StateCovariance',initialStateCovar); landmarkInfo(ekfSlamObj)
ans=4×3 table
landmark number landmark state index landmark position
_______________ ____________________ _________________
1 4 5 15.85 -12.95
2 6 7 25.245 -15.47
3 8 9 37.588 3.1023
4 10 11 16.569 2.7466
Create a deep copy of the ekfSLAM
object.
newEkfSlamObj = copy(ekfSlamObj);
Specify the landmark number to be removed.
removeLandmark(newEkfSlamObj,3); landmarkInfo(newEkfSlamObj)
ans=3×3 table
landmark number landmark state index landmark position
_______________ ____________________ _________________
1 4 5 15.85 -12.95
2 6 7 25.245 -15.47
3 8 9 16.569 2.7466
Input Arguments
slamObj
— EKF SLAM object
ekfSLAM
object
EKF SLAM object, specified as an ekfSLAM
object.
Output Arguments
newSlamObj
— Copy of EKF SLAM object
ekfSLAM
object
Copy of the EKF SLAM object, returned as an ekfSLAM
object.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2021b
MATLAB 명령
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